rUv c7ddb2d7d1 feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856) ...

* feat(worldmodel): ADR-147 — OccWorld integration, wifi-densepose-worldmodel v0.3.0 (#854)

- New crate `wifi-densepose-worldmodel` v0.3.0: async Unix-socket bridge
  to OccWorld Python inference server; `OccWorldBridge`, `OccupancyGrid3D`,
  `TrajectoryPrior`, `worldgraph_to_occupancy` encoder (14/14 tests pass)
- `scripts/occworld_server.py`: long-lived Python inference server for
  OccWorld TransVQVAE (72.4M params); applies API-bug patches; dummy mode
  for CI testing; graceful SIGTERM shutdown
- `pose_tracker.rs`: `trajectory_prior` soft-blend injection (80/20
  Kalman/prior) on torso keypoint; `set_trajectory_prior()` public method
- CI: added `Run ADR-147 worldmodel tests` step
- ADR-147: accepted — OccWorld primary (209 ms, 3.37 GB VRAM, RTX 5080);
  Cosmos deferred to ADR-148 (32.54 GB VRAM exceeds hardware)
- Benchmark proof: 208.7 ms P50, 3.37 GB peak VRAM, 12.1 GB headroom

Co-Authored-By: claude-flow <ruv@ruv.net>

* chore: update ruvector.db state

Co-Authored-By: claude-flow <ruv@ruv.net>

* chore: ruvector.db sync

Co-Authored-By: claude-flow <ruv@ruv.net>

* fix(cli): add missing min_frames field to CalibrateArgs test helper

E0063 in calibrate.rs:448 — CalibrateArgs gained min_frames in ADR-135
but the default_args() test helper was not updated. min_frames=0 means
'use tier default', matching the existing runtime behaviour.

Co-Authored-By: claude-flow <ruv@ruv.net>

2026-05-29 16:53:51 -04:00

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